# Copyright (c) 2018 Intel Corporation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler
from launch.conditions import IfCondition, UnlessCondition
from launch.event_handlers import OnProcessExit
from launch.events import Shutdown
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from nav2_common.launch import ReplaceString

def generate_launch_description():
    # RViZ2 settings
    rviz2_config = os.path.join(
        get_package_share_directory('e07_nav2_bringup'),
        'rviz',
        'nav2_default_view.rviz'
    )

    rviz2_node = Node(
        package='rviz2',
        executable='rviz2',
        name='nav2_rviz2_show',
        arguments=['-d',rviz2_config],
        output='screen'
    )

    # Create the launch description and populate
    ld = LaunchDescription()

    ld.add_action(rviz2_node)

    return ld
